KR20230173811A - Active suspension system integrated controller using road surface information and pre-formation information - Google Patents

Active suspension system integrated controller using road surface information and pre-formation information Download PDF

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Publication number
KR20230173811A
KR20230173811A KR1020220074543A KR20220074543A KR20230173811A KR 20230173811 A KR20230173811 A KR 20230173811A KR 1020220074543 A KR1020220074543 A KR 1020220074543A KR 20220074543 A KR20220074543 A KR 20220074543A KR 20230173811 A KR20230173811 A KR 20230173811A
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South Korea
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vehicle
control unit
road surface
paragraph
control
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KR1020220074543A
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Korean (ko)
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김세권
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주식회사 엘시스
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Priority to KR1020220074543A priority Critical patent/KR20230173811A/en
Publication of KR20230173811A publication Critical patent/KR20230173811A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/15—Fluid spring
    • B60G2202/152—Pneumatic spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/824—Travel path sensing; Track monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/201—Air spring system type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/04—Means for informing, instructing or displaying

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

본 발명은 자동차의 주행 중 사전정보를 이용하여 상황에 따른 승차감 향상 혹은 안정성 향상을 위하여 서스펜션 제어를 안정적으로 수행 할 수 있도록 하는 능동현가 시스템 제어기 및 그를 이용한 제어방법을 제공하고자 한다.The present invention seeks to provide an active suspension system controller and a control method using the same that can stably perform suspension control to improve ride comfort or stability depending on the situation by using prior information while the vehicle is driving.

Description

노면정보 및 경로형상 사전정보를 이용한 능동현가 시스템 통합제어기{Active suspension system integrated controller using road surface information and pre-formation information}Active suspension system integrated controller using road surface information and pre-formation information}

본 발명은 자동차에 관한 것으로, 보다 상세하게는 능동현가 시스템을 제어하는 제어기에 관한 것이다.The present invention relates to automobiles, and more specifically to a controller that controls an active suspension system.

자동차의 주행에 있어 승차감(Ride Quality)과 조안성(Handling Performance)은 해당 차량이 운용되는 동적 상태 및 환경에 따라 변화하며, 종래의 수동형 현가장치는 이러한 성능지표의 적절한 타협점으로 설계됨When driving a car, ride quality and handling performance change depending on the dynamic state and environment in which the vehicle is operated, and the conventional passive suspension system is designed as an appropriate compromise for these performance indicators.

서스펜션(Suspension)은 쇽업소버 시스템, 스테빌라이져, 기타 섀시 링크(Chassis link)로 구성되는 시스템 단위 구성, 쇽업소버(Shock absorber)란 자동차의 차축과 차체를 연결하여 주행 중에 차축이 노면으로부터 받는 충격과 진동을 줄여주어 승차감을 좋게 하는 서스펜션장치의 주요 구성 요소Suspension is a system unit consisting of a shock absorber system, stabilizer, and other chassis links. A shock absorber connects the axle of a car and the body of the car to absorb the shock and vibration that the axle receives from the road surface while driving. A major component of the suspension system that improves riding comfort by reducing

쇽업소버는 차체 중량을 지지함과 동시에 노면에 의한 바퀴의 상하 진동을 완화하고 흡수하여 진동이 차체에 직접 전달되는 것을 방지하는 역할을 함. 또한, 차량의 무게 중심 이동(Weight shifting)을 제어하여 XYZ 축을 기준으로한 움직임(Pitching, Yawing, Rolling)을 결정짓기 때문에 주행성능에 중요한 영향을 미침 쇽업소버 외에 노면에서 받는 충격을 완화시키는 부품으로 섀시 스프링(chassis spring), 자동차의 좌, 우 흔들림을 방지하는 스테이빌라이져(stabilizer) 등이 있으며, 쇽업소버는 섀시 스프링의 진동을 흡수하여 승차감과 핸들링을 결정지음The shock absorber supports the weight of the vehicle body and at the same time relieves and absorbs the up-and-down vibration of the wheels caused by the road surface and prevents vibration from being transmitted directly to the vehicle body. In addition, it has a significant impact on driving performance because it controls the vehicle's center of gravity movement (weight shifting) and determines movement (pitching, yawling, rolling) based on the XYZ axis. In addition to shock absorbers, it is a part that relieves shock from the road surface. There are chassis springs and stabilizers that prevent the car from shaking left and right, and shock absorbers determine ride comfort and handling by absorbing vibration from the chassis springs.

에어 스프링은 기존공기의 압축과 팽창에 의해 얻어지는 탄성효과를 이용하여 하중을 지지하는 스프링으로 기존의 코일 스프링 역할을 대체하며 낮은 고유 진동수 가능함에 따라 안락한 승차감을 유지할 수 있으며 공기양을 조절함으로써 차고조절 및 조종 안정성 향상에 기여The air spring replaces the role of the existing coil spring as a spring that supports the load by using the elastic effect obtained by compression and expansion of existing air. It can maintain a comfortable ride by enabling a low natural frequency and can adjust the height by adjusting the amount of air. and contribute to improving steering stability.

따라서 본 발명은 자동차의 주행 중 사전정보를 이용하여 상황에 따른 승차감 향상 혹은 안정성 향상을 위하여 서스펜션 제어를 안정적으로 수행 할 수 있도록 하는 능동현가 시스템 제어기 및 그를 이용한 제어방법을 제공하고자 한다.Therefore, the present invention seeks to provide an active suspension system controller and a control method using the same that can stably perform suspension control to improve ride comfort or stability depending on the situation by using prior information while the vehicle is driving.

본 발명은 차량 상태 데이터 및 모드값 수신을 위한 CAN 수신부; 에어스프링을 제어하는 릴레이 제어부; 댐퍼를 제어하는 전류 제어부; 상태값 모니터링을 위한 Bluetooth 송수신부;를 포함하는 제어시스템을 제공한다.The present invention includes a CAN receiver for receiving vehicle status data and mode values; A relay control unit that controls the air spring; A current control unit that controls the damper; A control system including a Bluetooth transceiver for status value monitoring is provided.

상기 CAN 수신부는 센서노드로부터 사전정보에 따른 모드값 및 차량 OBD를 포함할 수 있다.The CAN receiver may include a mode value and vehicle OBD according to prior information from the sensor node.

상기 릴레이 제어부는 차량 주행 경로에 따른 제어 파라미터를 적용하여 압축탱크로부터 에어스프링까지 공기의 주입 및 에어스프링에서 공기 방출을 포함할 수 있다.The relay control unit may include injection of air from the compression tank to the air spring and discharge of air from the air spring by applying control parameters according to the vehicle driving path.

상기 전류 제어부는 차량 주행 경로에 따른 제어 파라미터를 적용하여 0A~3A 까지의 감쇠력 조절을 포함할 수 있다.The current control unit may include adjustment of the damping force from 0A to 3A by applying control parameters according to the vehicle driving path.

상기 Bluetooth 송수신부는 에어스프링 및 댐퍼가 포함된 서스펜션의 상태값을 확인을 포함할 수 있다.The Bluetooth transceiver may check the status value of the suspension including the air spring and damper.

본 발명의 노면정보 및 경로형상 사전정보를 이용한 차량 능동현가 시스템 통합제어기 에 따르면, 전방의 노면상태 및 사전경로형상을 통해 설정된 모드값에 따른 차량의 거동을 구분하여 적절한 파라미터로 제어할 수 있음에 따라 차량의 승차감 개선 및 안정성 확보의 효과가 있다.According to the vehicle active suspension system integrated controller using road surface information and path shape prior information of the present invention, the vehicle's behavior according to the mode value set through the road surface condition and prior path shape in front can be distinguished and controlled with appropriate parameters. This has the effect of improving the ride comfort and ensuring stability of the vehicle.

도 1은 본 발명의 일 시예에 따른 노면정보 및 경로형상 사전정보를 이용한 차량 능동현가 시스템 통합제어기의 구성도이다.
도 2는 본 발명의 일 실시예에 따른 노면정보 및 경로형상 사전정보를 이용한 차량 능동현가 시스템 통합제어기의 사양이다.
도 3은 본 발명의 일 실시예에 따른 제어 프로토콜이다.
도 4는 본 발명의 일 실시예에 따른 시스템 전체 구성도이다.Figure 1 is a configuration diagram of a vehicle active suspension system integrated controller using road surface information and path shape prior information according to an embodiment of the present invention.
Figure 2 is a specification of a vehicle active suspension system integrated controller using road surface information and path shape prior information according to an embodiment of the present invention.
Figure 3 is a control protocol according to an embodiment of the present invention.
Figure 4 is a diagram showing the overall system configuration according to an embodiment of the present invention.

이하, 실시 예들은 첨부된 도면 및 실시 예들에 대한 설명을 통하여 명백하게 드러나게 될 것이다. 실시 예의 설명에 있어서, 각 층(막), 영역, 패턴 또는 구조물들이 기판, 각 층(막), 영역, 패드 또는 패턴들의 "상/위(on)"에 또는 "하/아래(under)"에 형성되는 것으로 기재되는 경우에 있어, "상/위(on)"와 "하/아래(under)"는 "직접(directly)" 또는 "다른 층을 개재하여 (indirectly)" 형성되는 것을 모두 포함한다. 또한 각 층의 상/위 또는 하/아래에 대한 기준은 도면을 기준으로 설명한다.Hereinafter, embodiments will be clearly revealed through the accompanying drawings and descriptions of the embodiments. In the description of the embodiment, each layer (film), region, pattern or structure is “on” or “under” the substrate, each layer (film), region, pad or pattern. In the case where it is described as being formed, “on” and “under” include both being formed “directly” or “indirectly through another layer.” do. Additionally, the standards for top/top or bottom/bottom of each floor are explained based on the drawing.

도면에서 크기는 설명의 편의 및 명확성을 위하여 과장되거나 생략되거나 또는 개략적으로 도시되었다. 또한 각 구성요소의 크기는 실제크기를 전적으로 반영하는 것은 아니다. 또한 동일한 참조번호는 도면의 설명을 통하여 동일한 요소를 나타낸다. 이하, 첨부된 도면을 참조하여 실시 예를 설명한다.In the drawings, sizes are exaggerated, omitted, or schematically shown for convenience and clarity of explanation. Additionally, the size of each component does not entirely reflect the actual size. Additionally, the same reference numbers indicate the same elements throughout the description of the drawings. Hereinafter, embodiments will be described with reference to the attached drawings.

도 1은 본 발명의 일 실시예에 따른 노면정보 및 경로형상 사전정보를 이용한 차량 능동현가 시스템 통합제어기의 구성도이고, 도 2는 통합제어기의 사양이며, 도 3은 제어를 위한 프로토콜이다.Figure 1 is a configuration diagram of a vehicle active suspension system integrated controller using road surface information and path shape prior information according to an embodiment of the present invention, Figure 2 is a specification of the integrated controller, and Figure 3 is a protocol for control.

도 1에 도시된 바와 같이, 실시예에 따른 노면정보 및 경로형상 사전정보를 이용한 차량의 능동현가 시스템 제어기는 센서노드로 부터 제어명령을 송신하고 제어노드로 제어명령을 수신하여 차량 제어를 수행하는 구성요소들을 포함한다. CAN통신부, 릴레이 제어부, 전류제어부, 블루투스 송수신부를 포함하여 구성 될 수 있다.As shown in FIG. 1, the vehicle's active suspension system controller using road surface information and path shape prior information according to the embodiment transmits a control command from the sensor node and receives the control command from the control node to perform vehicle control. Includes components. It can be configured to include a CAN communication unit, relay control unit, current control unit, and Bluetooth transmitting/receiving unit.

제어부는 센서노드에 의해 연산되는 예측에 따라 설정된 제어모델을 수신하여 차량의 거동을 모드로 판단하여, 모드에 따라 알맞은 에어스프링 및 댐퍼 제어를 수행하도록 제어부에 그 결과를 전달할 수 있다.The control unit can receive the control model set according to the prediction calculated by the sensor node, determine the vehicle's behavior by mode, and transmit the results to the control unit to perform appropriate air spring and damper control according to the mode.

차량의 거동의 관한 모드 다수개로 이루어질 수 있다. 예를 들어 차량의 거동에 관한 모드은 차고 저,중,고 3개로 구분하고, 노면 모드를 4개의 구역으로 구별할 수 있다. 이때 It may consist of multiple modes related to the vehicle's behavior. For example, the vehicle behavior mode can be divided into three zones: low, medium, and high, and the road mode can be divided into four zones. At this time

모드1은 감쇠력이 가장 낮고 차고가 가장 높은 경우이고, 모드4는 감쇠력이 가장 높고 차고가 가장 낮은 경우가 된다. 물론, 차량의 거동에 관한 모드는 4개에 제한되지 않고 다양한 개수로 변형 실시될 수 있다.Mode 1 has the lowest damping force and highest ride height, and Mode 4 has the highest damping force and lowest ride height. Of course, the modes related to the vehicle's behavior are not limited to four and can be modified and implemented in various numbers.

차량의 모드 판단 결과는 제어부로 보내지고, 제어부는 에어스프링 및 댐퍼의 솔레노이드 밸브를 제어하면서 전자제어 서스펜션(ECS)의 서스펜션의 제어를 수행할 수 있게 된다.The result of the vehicle's mode determination is sent to the control unit, and the control unit can control the solenoid valves of the air spring and damper and control the electronically controlled suspension (ECS) suspension.

서스펜션의 제어는 노면 상태를 미리 관찰함으로써 서스펜션 제어를 먼저 수행할 수 있기 때문에 제1 제어로직으로 불릴 수 있다. 제1 제어로직은 카메라로 인지된 노면을 기준 포장,비포장, 진흙, 눈길로 구분하여, 노면 상태값 도달 전에 가장 유사한 차량 거동을 가지는 파라미터를 미리 입력하여 제어를 실시하는 것이다.Suspension control can be referred to as first control logic because suspension control can be performed first by observing the road surface condition in advance. The first control logic divides the road surface recognized by the camera into standard paved, unpaved, mud, and snowy roads and performs control by inputting parameters with the most similar vehicle behavior in advance before reaching the road surface condition value.

상술한 제1 제어로직을 이용하지 않는 경우, 일반적인 전자제어 서스펜션의 제어는 제2 제어로직으로 불릴 수 있다.When the above-described first control logic is not used, control of a general electronically controlled suspension may be called the second control logic.

제2 제어로직을 수행하기 위한 경로를 판단할 수 있다. 예를 들어 차량 경로에 코너에 따른 차체(Body) 가속도(G), 바퀴(Wheel) 가속도(G), 조향각, 차속, 브레이트 압력, TQI, 주행모드 등일 수 있다.A path for performing the second control logic can be determined. For example, this may be body acceleration (G), wheel acceleration (G), steering angle, vehicle speed, brake pressure, TQI, driving mode, etc. depending on the corner in the vehicle path.

제어부는 상술한 센서노드의 모드에 따라 노면 상태를 판단하고, 제어를 통해 승차감(Ride)을 제어하는 명령을 내릴 수 있다. 또한 제어부는 안티-롤(Anti-Roll), 안티 드라이브(AntiDrive),안티 스쿼트(Anti-Squat) 등의 적응(Adaptive) 제어를 수행할 수 있다.The control unit can determine the road surface condition according to the mode of the sensor node described above and issue commands to control ride quality. Additionally, the control unit can perform adaptive control such as anti-roll, anti-drive, and anti-squat.

제어부는 어떠한 제어 명령을 먼저 수행할지 제어 우선순위를 판단하는 코디네이터 역할을 겸할 수 있다. 즉, 제어는 통상적인 전자제어 서스펜션(ECS)의 제어는 센서노드로부터 수신되는 명령를 기초로 하고 결과값이 존재하지 않을 경우에는 기본값 설정을 통해 기초 상태로 서스펜션의 제어를 수행할 수 있다.The control unit can also serve as a coordinator that determines the control priority of which control command to execute first. In other words, control of a typical electronically controlled suspension (ECS) is based on commands received from a sensor node, and if there is no result, the suspension can be controlled in a basic state by setting a default value.

이와 같이 본 발명의 노면 정보 및 경로형상 사전정보를 이용한 차량 능동현가 시스템 제어기에 따르면, 센서노드를 통해 노면 인지와 경로형상에 의한 예상 차량 거동으로 구분하여 적절한 파라미터로 제어할 수 있으므로 차량의 안정성과 승차감 향상의 효과가 있다.According to the vehicle active suspension system controller using road surface information and path shape prior information of the present invention, it is possible to classify expected vehicle behavior based on road surface recognition and path shape through a sensor node and control them with appropriate parameters, thereby improving vehicle stability and stability. It has the effect of improving riding comfort.

1 : 능동현가 통합제어기
100 : CAN 수신부
200 : PWM 제어부
300 : ADC 수신부
400 : 릴레이 제어부1: Active suspension integrated controller
100: CAN receiver
200: PWM control unit
300: ADC receiver
400: relay control unit

Claims (5)

데이터 및 모드값 수신을 위한 CAN 수신부; 에어스프링을 제어하는 릴레이 제어부; 댐퍼를 제어하는 전류 제어부; 상태값 모니터링을 위한 Bluetooth 송수신부;를 포함하는 제어기CAN receiver for receiving data and mode values; A relay control unit that controls the air spring; A current control unit that controls the damper; Controller including a Bluetooth transceiver for status value monitoring 제1항에 있어서.
CAN 수신부의 경우 센서노드로부터 사전정보에 따른 모드값 및 차량 OBD를 포함하여 데이터를 수신하고 제어부;로 전달하는 센서노드In paragraph 1.
In the case of the CAN receiver, it is a sensor node that receives data from the sensor node, including mode values and vehicle OBD according to prior information, and transmits it to the control unit. 제1항에 있어서.
릴레이 제어부의 경우 차량 주행 경로에 따른 제어 파라미터를 적용하여 압축탱크로부터 에어스프링까지 공기의 주입 및 에어스프링에서 공기 방출을 포함하는 제어방식In paragraph 1.
In the case of the relay control unit, a control method includes injection of air from the compression tank to the air spring and release of air from the air spring by applying control parameters according to the vehicle driving path. 제1항에 있어서.
전류 제어부는 차량 주행 경로에 따른 제어 파라미터를 적용하여 0A~1.5A 까지의 전류제어를 통해 댐퍼 오리피스 오픈상태 변화에 따른 감쇠력 조절 방법In paragraph 1.
The current control unit applies control parameters according to the vehicle's driving path and controls the current from 0A to 1.5A to adjust the damping force according to changes in the damper orifice open state. 제1항에 있어서.
Bluetooth 송수신부는 에어스프링 및 댐퍼가 포함된 서스펜션의 상태값 확인을 포함하여 LCD 창에 차량상태 및 제어기 상태값 표출하는 방법
In paragraph 1.
The Bluetooth transmitter and receiver check the status values of the suspension including air springs and dampers, and display the vehicle status and controller status values on the LCD window.
KR1020220074543A 2022-06-20 2022-06-20 Active suspension system integrated controller using road surface information and pre-formation information KR20230173811A (en)

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